PARALLEL KINEMATICS MECHANISM WITH A CONCENTRIC SPHERICAL JOINT

摘要

A parallel kinematics mechanism (100) is provided for uses such as robotics or machining. The mechanism has various limbs (A1, A2, A3, A4, A5) designed as elbow-linkages, at least some of which are actuatable, for moving an end component (40) with multiple workspace-to-footprint ratio and a closed-form solution for the forward kinematics. The mechanism comprises a joint assembly (J1, J2) having a plurality of revolute joints for connecting to at least three limbs (5, 15). In various embodiments of the invention, the end component (40) has three, four, five and six degrees of freedom.